Enhancing Indoor Inertial Pedestrian Navigation Using a Shoe-Worn Marker

Sensors

Mitja Placer¹ 

[1] Harpha Sea, Čevljarska Ulica 8, Koper 6000, Slovenia

关键词: indoor positioning;    strapdown inertial navigation;    pedestrian dead reckoning;    marker tracking;    unscented Kalman filter;    unit quaternion space;   

DOI  :  10.3390/s130809836

来源: mdpi

【 摘 要 】

We propose a novel hybrid inertial sensors-based indoor pedestrian dead reckoning system, aided by computer vision-derived position measurements. In contrast to prior vision-based or vision-aided solutions, where environmental markers were used—either deployed in known positions or extracted directly from it—we use a shoe-fixed marker, which serves as positional reference to an opposite shoe-mounted camera during foot swing, making our system self-contained. Position measurements can be therefore more reliably fed to a complementary unscented Kalman filter, enhancing the accuracy of the estimated travelled path for 78%, compared to using solely zero velocities as pseudo-measurements.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.